qrk::Lidar Class Reference

Lidar interface. More...

#include <Lidar.h>

Inheritance diagram for qrk::Lidar:

Public Types
enum	measurement_type_t { Distance, Distance_intensity, Multiecho, Multiecho_intensity }
enum	connection_type_t { Serial, Ethernet }
Public Member Functions
virtual const char *	what (void) const =0
virtual bool	open (const char *device_name, long baudrate, connection_type_t type)=0
virtual void	close (void)=0
virtual bool	is_open (void) const =0
virtual void	set_timeout_msec (int msec)=0
virtual bool	laser_on (void)=0
virtual bool	laser_off (void)=0
virtual void	reboot (void)=0
virtual void	sleep (void)=0
virtual void	wakeup (void)=0
virtual bool	is_stable (void)=0
virtual bool	start_measurement (measurement_type_t type, int scan_times, int skip_scan)=0
	Starts data measurement process.
virtual bool	get_distance (std::vector< long > &data, long *time_stamp)=0
	Receives measurement data.
virtual bool	get_distance_intensity (std::vector< long > &data, std::vector< unsigned short > &intensity, long *time_stamp)=0
virtual bool	get_multiecho (std::vector< long > &data_multi, long *time_stamp)=0
virtual bool	get_multiecho_intensity (std::vector< long > &data_multiecho, std::vector< unsigned short > &intensity_multiecho, long *time_stamp)=0
virtual bool	set_scanning_parameter (int first_step, int last_step, int skip_step)=0
virtual void	stop_measurement (void)=0
	Stops data measurement process.
virtual bool	set_sensor_time_stamp (long time_stamp)=0
	Synchronization of timestamps.
virtual double	index2rad (int index) const =0
	Angle conversion functions.
virtual double	index2deg (int index) const =0
virtual int	rad2index (double radian) const =0
virtual int	deg2index (double degree) const =0
virtual int	rad2step (double radian) const =0
virtual int	deg2step (double degree) const =0
virtual double	step2rad (int step) const =0
virtual double	step2deg (int step) const =0
virtual int	step2index (int step) const =0
virtual int	min_step (void) const =0
virtual int	max_step (void) const =0
virtual long	min_distance (void) const =0
virtual long	max_distance (void) const =0
virtual long	scan_usec (void) const =0
virtual int	max_data_size (void) const =0
virtual int	max_echo_size (void) const =0
virtual const char *	product_type (void) const =0
virtual const char *	firmware_version (void) const =0
virtual const char *	serial_id (void) const =0
virtual const char *	status (void) const =0
virtual const char *	state (void) const =0
virtual int	raw_write (const char *data, size_t data_size)=0
virtual int	raw_read (char *data, size_t max_data_size, int timeout)=0
virtual int	raw_readline (char *data, size_t max_data_size, int timeout)=0

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Detailed Description

Lidar interface.

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Member Enumeration Documentation

enum qrk::Lidar::measurement_type_t

Enumerator:

Distance	Range.
Distance_intensity	Distance (range) and intensity (strength)
Multiecho	Multiecho distance.
Multiecho_intensity	Multiecho distance and intensity.

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The documentation for this class was generated from the following file:

• include/cpp/Lidar.h